RMA

This package works together with the MRS System.

Dependencies

Operational System	Ubuntu 20.04
ROS
MRS System	Native installation
Gazebo	Gazebo multi-robot simulator - version 11.13.0

Features

• UAV
• Multi UAV
• RPLidar
• Velodyne
• Rangefinder
• Bluefox
• Real-sense D-435

Step 1 - Upload class's package

cd ~/workspace/src 
git clone https://github.com/vivaldini/RMA.git 
catkin build 
bash ../devel/setup.bash

Step 2 - Setting Gazebo

Start Gazebo by entering the following at the command prompt.

gazebo

Click on Edit -> Model Editor

Click in File -> Save as

Save the model in the Location: /workspace/src/RMA/models.

Step 3

To add the directory to models and worlds:

• Open gazebo
• Click on "Insert" (upper left)
• Click "Add Path" (upper left)
• Choose the paste ~/workspace/src/RMA/models
• Close gazebo

Step 4 - Test the environment

• UAV

cd
bash ~/workspace/src/RMA/src/start/start.sh

• Multi UAVs run

  cd
  bash ~/workspace/src/RMA/src/start/multiStart.sh

Step 5: Use algorithms and information available from MRS

Repository 1: https://ctu-mrs.github.io/docs/system/uav_ros_interface.html#uavmanager

Repository 2: https://ctu-mrs.github.io/docs/software/mavros.html#used-topics-and-services

Topic Informations:

• Localization: /uav1/odometry/odom_main
• Laser: /uav1/garmin/range
• Global motion: /uav1/control_manager/reference
• Local motion: /uav1/control_manager/goto_fcu

Extra 1: Ways to stop the simulation

Press “CTRL + a” and after “k” in the prompt.

If something remains open:

alias killg='killall gzclient && killall gzserver && killall rosmaster'
killall px4
tmux kill-server

Extra 2 - Learning ROS

Communication with the MRS will be done through ROS. If you are not yet aware, it is interesting to carry out the tutorial 1.1.1 to 1.1.18 link: http://wiki.ros.org/ROS/Tutorials

Note:

1. We will see ROS in the course, but it is important to improve your expertise to do the tutorials. That will be passed as Frequency Activities.
2. The scenario was developed by @lidiaxp.

Support

For support, send email to vivaldini@ufscar.br